{"id":373,"date":"2026-03-07T16:18:18","date_gmt":"2026-03-07T08:18:18","guid":{"rendered":"https:\/\/docs.liuyaorobot.com\/?post_type=docs&p=373"},"modified":"2026-03-09T14:38:52","modified_gmt":"2026-03-09T06:38:52","slug":"%e6%97%a0%e4%ba%ba%e6%9c%ba%e8%bd%af%e4%bb%b6%e6%8e%a5%e5%8f%a3%e4%b8%8e%e8%af%b4%e6%98%8e%e4%ba%8c%e6%ac%a1%e5%bc%80%e5%8f%91","status":"publish","type":"docs","link":"https:\/\/docs.liuyaorobot.com\/?docs=%e6%89%8b%e5%8a%a8%e9%a3%9e%e8%a1%8c%e5%8f%8a%e8%87%aa%e5%8a%a8%e6%8e%a7%e5%88%b6%e9%a3%9e%e8%a1%8c\/%e6%97%a0%e4%ba%ba%e6%9c%ba%e8%bd%af%e4%bb%b6%e6%8e%a5%e5%8f%a3%e4%b8%8e%e8%af%b4%e6%98%8e%e4%ba%8c%e6%ac%a1%e5%bc%80%e5%8f%91","title":{"rendered":"\u65e0\u4eba\u673a\u8f6f\u4ef6\u63a5\u53e3\u4e0e\u8bf4\u660e(\u4e8c\u6b21\u5f00\u53d1)"},"content":{"rendered":"\n

\u8b66\u544a\uff1a\u6b64\u6587\u6863\u4ec5\u63d0\u4f9b\u7ed9\u5f00\u53d1\u4eba\u5458\u4f7f\u7528\uff0c\u8bf7\u5728\u5b9e\u673a\u98de\u884c\u524d\u8bf7\u52a1\u5fc5\u5148\u5b8c\u6210\u4eff\u771f\uff0c\u4e14\u5fc5\u987b\u5728\u9694\u79bb\u5b89\u5168\u7f51\u5185\u98de\u884c\u3002<\/p>\n\n\n\n

\u4e00\u3001\u6fc0\u5149\u96f7\u8fbe\u5b9a\u4f4d\u4f4d\u59ff\u83b7\u53d6<\/h2>\n\n\n\n

1. \u542f\u52a8\u6fc0\u5149\u96f7\u8fbe\u8282\u70b9<\/p>\n\n\n\n

bash<\/p>\n\n\n\n

# \u542f\u52a8MID360\u6fc0\u5149\u96f7\u8fbe
roslaunch tutorial_navigation mid360.launch<\/pre>\n\n\n\n
2. \u4f4d\u59ff\u6570\u636e\u8bdd\u9898\u8bf4\u660e\u4e0e\u4f4d\u59ff\u6570\u636e\u83b7\u53d6\u4f8b\u7a0b<\/p>\n\n\n\n
\u8bdd\u9898\u540d\u79f0<\/th>\u6d88\u606f\u7c7b\u578b<\/th>\u4f5c\u7528<\/th><\/tr><\/thead>
\/mavros\/vision_pose\/pose<\/code><\/td>geometry_msgs\/PoseStamped<\/code><\/td>\u96f7\u8fbe\u5b9a\u4f4d\u4f4d\u59ff\u6570\u636e<\/strong>\uff1a\u6fc0\u5149\u96f7\u8fbe\u5b9a\u4f4d\u7cfb\u7edf\u8f93\u51fa\u7684\u65e0\u4eba\u673a\u4f4d\u7f6e\u548c\u59ff\u6001\u4fe1\u606f\uff08\u5305\u542b\u4e09\u7ef4\u4f4d\u7f6e\u548c\u56db\u5143\u6570\u59ff\u6001\uff09<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n
Python\u7248\u672c<\/p>\n\n\n\n
python<\/p>\n\n\n\n
#!\/usr\/bin\/env python3\nimport rospy\nfrom geometry_msgs.msg import PoseStamped\n\nclass PoseSubscriber:\n    def __init__(self):\n        # \u8ba2\u9605\/mavros\/vision_pose\/pose\u8bdd\u9898\n        self.pose_sub = rospy.Subscriber('\/mavros\/vision_pose\/pose', \n                                         PoseStamped, \n                                         self.pose_callback)\n    \n    def pose_callback(self, msg):\n        # \u83b7\u53d6\u4f4d\u7f6e\u4fe1\u606f\n        x = msg.pose.position.x\n        y = msg.pose.position.y\n        z = msg.pose.position.z\n        \n        # \u83b7\u53d6\u59ff\u6001\u4fe1\u606f\uff08\u56db\u5143\u6570\uff09\n        qx = msg.pose.orientation.x\n        qy = msg.pose.orientation.y\n        qz = msg.pose.orientation.z\n        qw = msg.pose.orientation.w\n        \n        # \u6253\u5370\u4f4d\u59ff\u4fe1\u606f\n        rospy.loginfo(f\"Position: [x: {x:.3f}, y: {y:.3f}, z: {z:.3f}]\")\n        rospy.loginfo(f\"Orientation: [x: {qx:.3f}, y: {qy:.3f}, z: {qz:.3f}, w: {qw:.3f}]\")\n        \n        # \u5728\u8fd9\u91cc\u6dfb\u52a0\u60a8\u7684\u4f4d\u59ff\u5904\u7406\u4ee3\u7801\n\nif __name__ == '__main__':\n    try:\n        rospy.init_node('pose_subscriber_node', anonymous=True)\n        pose_subscriber = PoseSubscriber()\n        rospy.spin()\n    except rospy.ROSInterruptException:\n        pass<\/pre>\n\n\n\n
3. \u9a8c\u8bc1\u6570\u636e\u53d1\u5e03<\/p>\n\n\n\n
\u5728\u542f\u52a8\u6fc0\u5149\u96f7\u8fbe\u8282\u70b9\u540e\uff0c\u53ef\u4ee5\u7528\u4ee5\u4e0b\u547d\u4ee4\u9a8c\u8bc1\u6570\u636e\u662f\u5426\u6b63\u5e38\u53d1\u5e03\uff1a<\/p>\n\n\n\n
bash<\/p>\n\n\n\n
# \u67e5\u770b\u8bdd\u9898\u5217\u8868\nrostopic list\n\n# \u67e5\u770b\u4f4d\u59ff\u8bdd\u9898\u6d88\u606f\nrostopic echo \/mavros\/vision_pose\/pose\n\n# \u67e5\u770b\u8bdd\u9898\u53d1\u5e03\u9891\u7387\nrostopic hz \/mavros\/vision_pose\/pose<\/pre>\n\n\n\n
4. package.xml\u914d\u7f6e<\/p>\n\n\n\n
xml<\/p>\n\n\n\n
<build_depend>geometry_msgs<\/build_depend>\n<build_depend>roscpp<\/build_depend>\n<build_depend>rospy<\/build_depend>\n\n<build_export_depend>geometry_msgs<\/build_export_depend>\n<build_export_depend>roscpp<\/build_export_depend>\n<build_export_depend>rospy<\/build_export_depend>\n\n<exec_depend>geometry_msgs<\/exec_depend>\n<exec_depend>roscpp<\/exec_depend>\n<exec_depend>rospy<\/exec_depend><\/pre>\n\n\n\n
\u8fd9\u4e2a\u4f8b\u7a0b\u4f1a\u8ba2\u9605\/mavros\/vision_pose\/pose<\/code>\u8bdd\u9898\uff0c\u5e76\u5b9e\u65f6\u6253\u5370\u63a5\u6536\u5230\u7684\u4f4d\u59ff\u6570\u636e\u3002\u60a8\u53ef\u4ee5\u5728\u56de\u8c03\u51fd\u6570\u4e2d\u6dfb\u52a0\u81ea\u5df1\u7684\u4f4d\u59ff\u5904\u7406\u903b\u8f91\u3002<\/p>\n\n\n\n
\u4e8c\u3001\u65e0\u4eba\u673a\u901f\u5ea6\u63a7\u5236\uff08\u8fd0\u52a8\u63a7\u5236\uff09<\/h2>\n\n\n\n
1.\u5728\u63a7\u5236\u65e0\u4eba\u673a\u8fd0\u52a8\u524d\uff0c\u9700\u8981\u542f\u52a8\u4e24\u4e2a\u5fc5\u8981\u7684\u8282\u70b9\uff1a<\/p>\n\n\n\n
bash<\/p>\n\n\n\n
# \u7ec8\u7aef1\uff1a\u542f\u52a8\u6fc0\u5149\u96f7\u8fbe\nroslaunch tutorial_navigation mid360.launch\n\n# \u7ec8\u7aef2\uff1a\u542f\u52a8Mavlink\u901a\u8baf\nroslaunch tutorial_basic mavros.launch<\/pre>\n\n\n\n
2.\u76f8\u5173\u8bdd\u9898\u8bf4\u660e\u4ee5\u53ca\u7f16\u7a0b\u793a\u4f8b<\/p>\n\n\n\n
\u8bdd\u9898\u540d\u79f0<\/th>\u6d88\u606f\u7c7b\u578b<\/th>\u4f5c\u7528<\/th><\/tr><\/thead>
mavros\/setpoint_velocity\/cmd_vel<\/code><\/td>geometry_msgs\/TwistStamped<\/code><\/td>\u901f\u5ea6\u63a7\u5236<\/strong>\uff1a\u53d1\u9001\u901f\u5ea6\u6307\u4ee4\uff08\u7ebf\u901f\u5ea6+\u89d2\u901f\u5ea6\uff09<\/td><\/tr>
mavros\/setpoint_position\/local<\/code><\/td>geometry_msgs\/PoseStamped<\/code><\/td>\u4f4d\u7f6e\u63a7\u5236<\/strong>\uff1a\u53d1\u9001\u76ee\u6807\u4f4d\u7f6e\u6307\u4ee4<\/td><\/tr>
mavros\/cmd\/arming<\/code><\/td>mavros_msgs\/CommandBool<\/code><\/td>\u89e3\u9501\/\u4e0a\u9501\u670d\u52a1<\/strong>\uff1a\u63a7\u5236\u7535\u673a\u542f\u52a8\/\u505c\u6b62<\/td><\/tr>
mavros\/set_mode<\/code><\/td>mavros_msgs\/SetMode<\/code><\/td>\u6a21\u5f0f\u8bbe\u7f6e\u670d\u52a1<\/strong>\uff1a\u5207\u6362\u98de\u884c\u6a21\u5f0f\uff08\u5982OFFBOARD\uff09<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n
\n\n\n\n
Python\u7248\u672c<\/p>\n\n\n\n
python<\/p>\n\n\n\n
https:\/\/docs.liuyaorobot.com\/wp-login.php<\/pre>\n\n\n\n
\n\n\n\n
package.xml<\/strong>:<\/p>\n\n\n\n
xml<\/p>\n\n\n\n
<build_depend>geometry_msgs<\/build_depend>\n<build_depend>mavros_msgs<\/build_depend>\n<build_depend>roscpp<\/build_depend>\n<build_depend>rospy<\/build_depend>\n\n<build_export_depend>geometry_msgs<\/build_export_depend>\n<build_export_depend>mavros_msgs<\/build_export_depend>\n\n<exec_depend>geometry_msgs<\/exec_depend>\n<exec_depend>mavros_msgs<\/exec_depend>\n<exec_depend>roscpp<\/exec_depend>\n<exec_depend>rospy<\/exec_depend><\/pre>\n\n\n\n
4.\u4f7f\u7528\u8bf4\u660e<\/p>\n\n\n\n
\u5148\u542f\u52a8\u5fc5\u8981\u8282\u70b9\uff1a<\/p>\n\n\n\n
roslaunch tutorial_navigation mid360.launch<\/p>\n\n\n\n
roslaunch tutorial_basic mavros.launch<\/p>\n\n\n\n
\u5b89\u5168\u63d0\u793a\uff1a\u786e\u4fdd\u65e0\u4eba\u673a\u5468\u56f4\u5b89\u5168\uff0c\u5efa\u8bae\u5148\u5728\u4eff\u771f\u73af\u5883\u4e2d\u6d4b\u8bd5\uff0c\u51c6\u5907\u597d\u9065\u63a7\u5668\u4f5c\u4e3a\u5907\u7528\uff0c\u968f\u65f6\u51c6\u5907\u5207\u6362\u56de\u624b\u52a8\u6a21\u5f0f\uff0c\u8fd0\u884c\u76f8\u5173\u6a21\u5f0f\u548c\u63a7\u5236\u65f6\u9700\u8981\u5c06\u98de\u884c\u6a21\u5f0f\u5207\u6362\u81f3OffBord\u6a21\u5f0f\uff08Magpei360\u7cfb\u5217\u901a\u5e38\u662f\u9065\u63a7\u5668\u53f3\u4fa7\u6309\u94ae\uff09<\/mark><\/p>\n\n\n\n
\u4e09\u3001\u6295\u653e\u88c5\u7f6e<\/h2>\n\n\n\n
1.\u5728\u63a7\u5236\u6295\u653e\u88c5\u7f6e\u524d\uff0c\u9700\u8981\u5148\u542f\u52a8\u6295\u653e\u88c5\u7f6e\u9a71\u52a8\u8282\u70b9\uff1a<\/p>\n\n\n\n
\u542f\u52a8\u547d\u4ee4<\/p>\n\n\n\n
bash<\/p>\n\n\n\n
# \u542f\u52a8\u6295\u653e\u88c5\u7f6e\u9a71\u52a8\nroslaunch tutorial_catapult catapult_driver.launch<\/pre>\n\n\n\n
2.\u76f8\u5173\u8bdd\u9898\u8bf4\u660e\u4e0e\u4f8b\u7a0b<\/p>\n\n\n\n
\u8bdd\u9898\u540d\u79f0<\/th>\u6d88\u606f\u7c7b\u578b<\/th>\u4f5c\u7528<\/th><\/tr><\/thead>
servo\/front_left\/open<\/code><\/td>std_msgs\/Empty<\/code><\/td>\u5de6\u524d\u8235\u673a\u6253\u5f00<\/strong>\uff1a\u91ca\u653e\u5de6\u524d\u4f4d\u7f6e\u7684\u7269\u54c1<\/td><\/tr>
servo\/front_right\/open<\/code><\/td>std_msgs\/Empty<\/code><\/td>\u53f3\u524d\u8235\u673a\u6253\u5f00<\/strong>\uff1a\u91ca\u653e\u53f3\u524d\u4f4d\u7f6e\u7684\u7269\u54c1<\/td><\/tr>
servo\/back_left\/open<\/code><\/td>std_msgs\/Empty<\/code><\/td>\u5de6\u540e\u8235\u673a\u6253\u5f00<\/strong>\uff1a\u91ca\u653e\u5de6\u540e\u4f4d\u7f6e\u7684\u7269\u54c1<\/td><\/tr>
servo\/back_right\/open<\/code><\/td>std_msgs\/Empty<\/code><\/td>\u53f3\u540e\u8235\u673a\u6253\u5f00<\/strong>\uff1a\u91ca\u653e\u53f3\u540e\u4f4d\u7f6e\u7684\u7269\u54c1<\/td><\/tr>
servo\/all\/close<\/code><\/td>std_msgs\/Empty<\/code><\/td>\u5173\u95ed\u6240\u6709\u8235\u673a<\/strong>\uff1a\u590d\u4f4d\u6240\u6709\u8235\u673a\uff08\u53ef\u7528\u4e8e\u901a\u7528\u5173\u95ed\uff09<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n
\u6ce8\u610f<\/strong>\uff1a\/open<\/code> \u7528\u4e8e\u6253\u5f00\u8235\u673a\uff08\u6295\u653e\u7269\u54c1\uff09\uff0c\/close<\/code> \u7528\u4e8e\u5173\u95ed\u8235\u673a\uff08\u590d\u4f4d\uff09\u3002\/all<\/code> \u53ef\u7528\u4e8e\u63a7\u5236\u6240\u6709\u8235\u673a\uff0c\u4e5f\u53ef\u7528\u4e8e\u5206\u5e03\u63a7\u5236\u8235\u673a\u3002<\/p>\n\n\n\n
\n\n\n\n
Python\u7248\u672c<\/p>\n\n\n\n
python<\/p>\n\n\n\n
#!\/usr\/bin\/env python3\nimport rospy\nimport time\nfrom std_msgs.msg import Empty\n\nclass CatapultController:\n    def __init__(self):\n        # \u521d\u59cb\u5316\u8282\u70b9\n        rospy.init_node('catapult_controller_node', anonymous=True)\n        \n        # \u521b\u5efa\u8235\u673a\u63a7\u5236\u53d1\u5e03\u8005\n        self.front_left_open_pub = rospy.Publisher(\"servo\/front_left\/open\", Empty, queue_size=1)   # \u5de6\u524d\u8235\u673a\u6253\u5f00\n        self.front_right_open_pub = rospy.Publisher(\"servo\/front_right\/open\", Empty, queue_size=1) # \u53f3\u524d\u8235\u673a\u6253\u5f00\n        self.back_left_open_pub = rospy.Publisher(\"servo\/back_left\/open\", Empty, queue_size=1)     # \u5de6\u540e\u8235\u673a\u6253\u5f00\n        self.back_right_open_pub = rospy.Publisher(\"servo\/back_right\/open\", Empty, queue_size=1)   # \u53f3\u540e\u8235\u673a\u6253\u5f00\n        self.all_servo_close_pub = rospy.Publisher(\"servo\/all\/close\", Empty, queue_size=1)          # \u5173\u95ed\u6240\u6709\u8235\u673a\n        \n        # \u7b49\u5f85\u53d1\u5e03\u8005\u51c6\u5907\u5c31\u7eea\n        rospy.sleep(1)\n        \n        rospy.loginfo(\"\u6295\u653e\u88c5\u7f6e\u63a7\u5236\u5668\u521d\u59cb\u5316\u5b8c\u6210\")\n        \n    def open_front_left(self):\n        \"\"\"\u6253\u5f00\u5de6\u524d\u8235\u673a\uff08\u6295\u653e\u5de6\u524d\u7269\u54c1\uff09\"\"\"\n        rospy.loginfo(\"\u6253\u5f00\u5de6\u524d\u8235\u673a\")\n        self.front_left_open_pub.publish(Empty())\n        \n    def open_front_right(self):\n        \"\"\"\u6253\u5f00\u53f3\u524d\u8235\u673a\uff08\u6295\u653e\u53f3\u524d\u7269\u54c1\uff09\"\"\"\n        rospy.loginfo(\"\u6253\u5f00\u53f3\u524d\u8235\u673a\")\n        self.front_right_open_pub.publish(Empty())\n        \n    def open_back_left(self):\n        \"\"\"\u6253\u5f00\u5de6\u540e\u8235\u673a\uff08\u6295\u653e\u5de6\u540e\u7269\u54c1\uff09\"\"\"\n        rospy.loginfo(\"\u6253\u5f00\u5de6\u540e\u8235\u673a\")\n        self.back_left_open_pub.publish(Empty())\n        \n    def open_back_right(self):\n        \"\"\"\u6253\u5f00\u53f3\u540e\u8235\u673a\uff08\u6295\u653e\u53f3\u540e\u7269\u54c1\uff09\"\"\"\n        rospy.loginfo(\"\u6253\u5f00\u53f3\u540e\u8235\u673a\")\n        self.back_right_open_pub.publish(Empty())\n        \n    def close_all_servos(self):\n        \"\"\"\u5173\u95ed\u6240\u6709\u8235\u673a\uff08\u590d\u4f4d\uff09\"\"\"\n        rospy.loginfo(\"\u5173\u95ed\u6240\u6709\u8235\u673a\")\n        self.all_servo_close_pub.publish(Empty())\n        \n    def open_all_servos(self):\n        \"\"\"\u6253\u5f00\u6240\u6709\u8235\u673a\uff08\u540c\u65f6\u6295\u653e\u6240\u6709\u7269\u54c1\uff09\"\"\"\n        rospy.loginfo(\"\u6253\u5f00\u6240\u6709\u8235\u673a\")\n        self.open_front_left()\n        self.open_front_right()\n        self.open_back_left()\n        self.open_back_right()\n        \n    def sequential_release(self, interval=1.0):\n        \"\"\"\u987a\u5e8f\u6295\u653e\u7269\u54c1\n        \n        Args:\n            interval: \u6295\u653e\u95f4\u9694\u65f6\u95f4\uff08\u79d2\uff09\n        \"\"\"\n        rospy.loginfo(f\"\u5f00\u59cb\u987a\u5e8f\u6295\u653e\u7269\u54c1\uff0c\u95f4\u9694 {interval} \u79d2\")\n        \n        # \u6309\u987a\u5e8f\u6295\u653e\n        self.open_front_left()\n        time.sleep(interval)\n        \n        self.open_front_right()\n        time.sleep(interval)\n        \n        self.open_back_left()\n        time.sleep(interval)\n        \n        self.open_back_right()\n        time.sleep(interval)\n        \n        rospy.loginfo(\"\u987a\u5e8f\u6295\u653e\u5b8c\u6210\")\n        \n    def release_with_delay(self, positions, delay=0.5):\n        \"\"\"\u5e26\u5ef6\u8fdf\u7684\u6307\u5b9a\u4f4d\u7f6e\u6295\u653e\n        \n        Args:\n            positions: \u8981\u6295\u653e\u7684\u4f4d\u7f6e\u5217\u8868\uff0c\u5982 ['front_left', 'front_right']\n            delay: \u6bcf\u4e2a\u6295\u653e\u4e4b\u95f4\u7684\u5ef6\u8fdf\uff08\u79d2\uff09\n        \"\"\"\n        rospy.loginfo(f\"\u5f00\u59cb\u6295\u653e\u6307\u5b9a\u4f4d\u7f6e: {positions}\")\n        \n        for pos in positions:\n            if pos == 'front_left':\n                self.open_front_left()\n            elif pos == 'front_right':\n                self.open_front_right()\n            elif pos == 'back_left':\n                self.open_back_left()\n            elif pos == 'back_right':\n                self.open_back_right()\n            else:\n                rospy.logwarn(f\"\u672a\u77e5\u4f4d\u7f6e: {pos}\")\n                continue\n                \n            rospy.sleep(delay)\n            \n        rospy.loginfo(\"\u6307\u5b9a\u4f4d\u7f6e\u6295\u653e\u5b8c\u6210\")\n        \n    def reset_and_release(self, release_func):\n        \"\"\"\u590d\u4f4d\u540e\u6267\u884c\u6295\u653e\n        \n        Args:\n            release_func: \u8981\u6267\u884c\u7684\u6295\u653e\u51fd\u6570\n        \"\"\"\n        # \u5148\u5173\u95ed\u6240\u6709\u8235\u673a\u786e\u4fdd\u590d\u4f4d\n        self.close_all_servos()\n        rospy.sleep(0.5)\n        \n        # \u6267\u884c\u6295\u653e\n        release_func()\n        \n    def run_example(self):\n        \"\"\"\u8fd0\u884c\u793a\u4f8b\u7a0b\u5e8f\"\"\"\n        rospy.loginfo(\"===== \u6295\u653e\u88c5\u7f6e\u63a7\u5236\u793a\u4f8b\u5f00\u59cb =====\")\n        \n        # \u793a\u4f8b1\uff1a\u5355\u4e2a\u8235\u673a\u63a7\u5236\n        rospy.loginfo(\"\u793a\u4f8b1\uff1a\u6253\u5f00\u5de6\u524d\u8235\u673a\")\n        self.open_front_left()\n        rospy.sleep(2)\n        self.close_all_servos()\n        rospy.sleep(1)\n        \n        # \u793a\u4f8b2\uff1a\u540c\u65f6\u6253\u5f00\u591a\u4e2a\u8235\u673a\n        rospy.loginfo(\"\u793a\u4f8b2\uff1a\u540c\u65f6\u6253\u5f00\u524d\u4e24\u4e2a\u8235\u673a\")\n        self.open_front_left()\n        self.open_front_right()\n        rospy.sleep(2)\n        self.close_all_servos()\n        rospy.sleep(1)\n        \n        # \u793a\u4f8b3\uff1a\u987a\u5e8f\u6295\u653e\n        rospy.loginfo(\"\u793a\u4f8b3\uff1a\u987a\u5e8f\u6295\u653e\u6240\u6709\u7269\u54c1\")\n        self.sequential_release(interval=1.0)\n        rospy.sleep(1)\n        self.close_all_servos()\n        rospy.sleep(1)\n        \n        # \u793a\u4f8b4\uff1a\u6307\u5b9a\u4f4d\u7f6e\u6295\u653e\n        rospy.loginfo(\"\u793a\u4f8b4\uff1a\u6295\u653e\u6307\u5b9a\u4f4d\u7f6e\u7269\u54c1\")\n        self.release_with_delay(['front_left', 'back_right'], delay=1.0)\n        rospy.sleep(1)\n        self.close_all_servos()\n        \n        rospy.loginfo(\"===== \u6295\u653e\u88c5\u7f6e\u63a7\u5236\u793a\u4f8b\u5b8c\u6210 =====\")\n\nclass MissionBasedCatapult:\n    \"\"\"\u57fa\u4e8e\u4efb\u52a1\u7684\u6295\u653e\u63a7\u5236\u5668\uff08\u7ed3\u5408\u65e0\u4eba\u673a\u4efb\u52a1\uff09\"\"\"\n    \n    def __init__(self):\n        self.catapult = CatapultController()\n        \n    def release_at_waypoint(self, waypoint_num, position):\n        \"\"\"\u5728\u7279\u5b9a\u822a\u70b9\u65f6\u6295\u653e\u7269\u54c1\n        \n        Args:\n            waypoint_num: \u822a\u70b9\u7f16\u53f7\n            position: \u6295\u653e\u4f4d\u7f6e\n        \"\"\"\n        rospy.loginfo(f\"\u5230\u8fbe\u822a\u70b9 {waypoint_num}\uff0c\u6295\u653e {position} \u4f4d\u7f6e\u7269\u54c1\")\n        \n        if position == 'front_left':\n            self.catapult.open_front_left()\n        elif position == 'front_right':\n            self.catapult.open_front_right()\n        elif position == 'back_left':\n            self.catapult.open_back_left()\n        elif position == 'back_right':\n            self.catapult.open_back_right()\n            \n    def release_all_at_final(self):\n        \"\"\"\u5728\u6700\u7ec8\u822a\u70b9\u6295\u653e\u6240\u6709\u7269\u54c1\"\"\"\n        rospy.loginfo(\"\u5230\u8fbe\u6700\u7ec8\u822a\u70b9\uff0c\u6295\u653e\u6240\u6709\u7269\u54c1\")\n        self.catapult.open_all_servos()\n        \n    def reset_before_mission(self):\n        \"\"\"\u4efb\u52a1\u5f00\u59cb\u524d\u590d\u4f4d\u6240\u6709\u8235\u673a\"\"\"\n        rospy.loginfo(\"\u4efb\u52a1\u5f00\u59cb\u524d\u590d\u4f4d\u6240\u6709\u8235\u673a\")\n        self.catapult.close_all_servos()\n\nif __name__ == '__main__':\n    try:\n        # \u521b\u5efa\u6295\u653e\u88c5\u7f6e\u63a7\u5236\u5668\n        controller = CatapultController()\n        \n        # \u8fd0\u884c\u793a\u4f8b\u7a0b\u5e8f\n        controller.run_example()\n        \n        # \u6216\u8005\u4f7f\u7528\u57fa\u4e8e\u4efb\u52a1\u7684\u63a7\u5236\u5668\n        # mission_controller = MissionBasedCatapult()\n        # mission_controller.reset_before_mission()\n        # mission_controller.release_at_waypoint(1, 'front_left')\n        # mission_controller.release_at_waypoint(2, 'front_right')\n        # mission_controller.release_all_at_final()\n        \n    except rospy.ROSInterruptException:\n        pass<\/pre>\n\n\n\n
\n\n\n\n
3.package.xml<\/strong>:<\/p>\n\n\n\n
xml<\/p>\n\n\n\n
<build_depend>std_msgs<\/build_depend>\n<build_depend>roscpp<\/build_depend>\n<build_depend>rospy<\/build_depend>\n\n<build_export_depend>std_msgs<\/build_export_depend>\n<build_export_depend>roscpp<\/build_export_depend>\n\n<exec_depend>std_msgs<\/exec_depend>\n<exec_depend>roscpp<\/exec_depend>\n<exec_depend>rospy<\/exec_depend><\/pre>\n\n\n\n
4.\u4f7f\u7528\u8bf4\u660e<\/p>\n\n\n\n
\u5148\u542f\u52a8\u6295\u653e\u88c5\u7f6e\u9a71\u52a8<\/strong>\uff1aroslaunch tutorial_catapult catapult_driver.launch<\/p>\n\n\n\n
\u9a8c\u8bc1\u8235\u673a\u63a7\u5236<\/strong>\uff1a<\/p>\n\n\n\n
bash<\/p>\n\n\n\n
# \u67e5\u770b\u8bdd\u9898\u5217\u8868
rostopic list
# \u624b\u52a8\u6d4b\u8bd5\u5355\u4e2a\u8235\u673a\uff08front_left\u4e5f\u53ef\u4ee5\u6362\u6210\u522b\u7684\u8235\u673a\uff09
rostopic pub \/servo\/front_left\/open std_msgs\/Empty \"{}\" 
# \u624b\u52a8\u5173\u95ed\u6240\u6709\u8235\u673a
rostopic pub \/servo\/all\/close std_msgs\/Empty \"{}\" <\/pre>\n\n\n\n
<\/p>\n\n\n\n
\u56db\u3001\u4e0b\u89c6\u89c9\u6444\u50cf\u5934\u8c03\u7528<\/h2>\n\n\n\n
1.\u8c03\u7528\u4e0b\u89c6\u89c9\u6444\u50cf\u5934\u9700\u8981\u5148\u542f\u52a8\u547d\u4ee4<\/p>\n\n\n\n
bash<\/p>\n\n\n\n
# \u542f\u52a8\u4e0b\u89c6\u89c9\u6444\u50cf\u5934\u9a71\u52a8\nroslaunch tutorial_vision simple_camera_driver.launch<\/pre>\n\n\n\n
2.\u76f8\u5173\u8bdd\u9898\u8bf4\u660e\u4ee5\u53ca\u8c03\u7528\u4f8b\u7a0b<\/p>\n\n\n\n
\u8bdd\u9898\u540d\u79f0<\/th>\u6d88\u606f\u7c7b\u578b<\/th>\u4f5c\u7528<\/th><\/tr><\/thead>
camera\/image_raw<\/code><\/td>sensor_msgs\/Image<\/code><\/td>\u539f\u59cb\u56fe\u50cf\u6570\u636e<\/strong>\uff1a\u4e0b\u89c6\u6444\u50cf\u5934\u91c7\u96c6\u7684\u56fe\u50cf\u6570\u636e<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n
\n\n\n\n
Python\u7248\u672c<\/p>\n\n\n\n
python<\/p>\n\n\n\n
#!\/usr\/bin\/env python3\nimport rospy\nfrom sensor_msgs.msg import Image\nimport cv2\nfrom cv_bridge import CvBridge\n\nclass SimpleCamera:\n    def __init__(self):\n        rospy.init_node('simple_camera_node')\n        self.bridge = CvBridge()\n        # \u8ba2\u9605\u56fe\u50cf\u8bdd\u9898\n        self.image_sub = rospy.Subscriber('camera\/image_raw', Image, self.image_callback)\n        \n    def image_callback(self, msg):\n        try:\n            # \u5c06ROS\u56fe\u50cf\u8f6c\u6362\u4e3aOpenCV\u683c\u5f0f\n            cv_image = self.bridge.imgmsg_to_cv2(msg, \"bgr8\")\n            \n            # \u663e\u793a\u56fe\u50cf\n            cv2.imshow(\"Camera View\", cv_image)\n            cv2.waitKey(1)\n            \n        except Exception as e:\n            rospy.logerr(e)\n\nif __name__ == '__main__':\n    try:\n        SimpleCamera()\n        rospy.spin()\n    except rospy.ROSInterruptException:\n        cv2.destroyAllWindows()<\/pre>\n\n\n\n
3.package.xml<\/strong>:<\/p>\n\n\n\n
xml<\/p>\n\n\n\n
<build_depend>cv_bridge<\/build_depend>\n<build_depend>image_transport<\/build_depend>\n<build_depend>sensor_msgs<\/build_depend>\n<build_depend>opencv2<\/build_depend><\/pre>\n\n\n\n
4.\u8fd0\u884c\u65b9\u6cd5<\/p>\n\n\n\n
\u5fc5\u987b\u5148\u542f\u52a8\u542f\u52a8\u4e0b\u89c6\u89c9\u6444\u50cf\u5934\u9a71\u52a8roslaunch tutorial_vision simple_camera_driver.launch<\/p>\n\n\n\n
5.\u9a8c\u8bc1\u6570\u636e<\/p>\n\n\n\n
bash<\/p>\n\n\n\n
# \u67e5\u770b\u8bdd\u9898
rostopic list | grep camera

# \u67e5\u770b\u56fe\u50cf\u8bdd\u9898\u4fe1\u606f
rostopic info \/camera\/image_raw

# \u67e5\u770b\u56fe\u50cf\u6570\u636e\u7387
rostopic hz \/camera\/image_raw<\/pre>\n","protected":false},"excerpt":{"rendered":"
\u8b66\u544a\uff1a\u6b64\u6587\u6863\u4ec5\u63d0\u4f9b\u7ed9\u5f00\u53d1\u4eba\u5458\u4f7f\u7528\uff0c\u8bf7\u5728\u5b9e\u673a\u98de\u884c\u524d\u8bf7\u52a1\u5fc5\u5148\u5b8c\u6210\u4eff\u771f\uff0c\u4e14\u5fc5\u987b\u5728\u9694\u79bb\u5b89\u5168\u7f51\u5185\u98de\u884c\u3002 \u4e00\u3001\u6fc0\u5149\u96f7\u8fbe\u5b9a\u4f4d […]<\/p>\n","protected":false},"author":7,"featured_media":0,"parent":458,"menu_order":4,"comment_status":"closed","ping_status":"closed","template":"","format":"standard","categories":[],"doc_label":[],"doc_tag":[],"class_list":["post-373","docs","type-docs","status-publish","format-standard","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/373","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs"}],"about":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/types\/docs"}],"author":[{"embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/users\/7"}],"replies":[{"embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=373"}],"version-history":[{"count":11,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/373\/revisions"}],"predecessor-version":[{"id":401,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/373\/revisions\/401"}],"up":[{"embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=\/wp\/v2\/docs\/458"}],"wp:attachment":[{"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=373"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=373"},{"taxonomy":"doc_label","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fdoc_label&post=373"},{"taxonomy":"doc_tag","embeddable":true,"href":"https:\/\/docs.liuyaorobot.com\/index.php?rest_route=%2Fwp%2Fv2%2Fdoc_tag&post=373"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}